Table 1.

Comparison of visual marker-based tracking methods for intraoperative ultrasound probe

Method	Probe shape	Pattern type	Robotic/freehand	Real time
[9]	Planar	Chessboard	Freehand	Yes
[10]	Planar	Chessboard	Robotic	No
[5]	Planar	Circular dot	Robotic	Yes
[6]	Cylindrical	Chessboard	Freehand	No
Ours	Cylindrical	Hybrid	Both	Yes